技术领域technical field
本发明属于光学测量技术领域，具体涉及一种彩色物体三维轮廓测量方法。The invention belongs to the technical field of optical measurement, and in particular relates to a method for measuring a three-dimensional profile of a colored object.
背景技术Background technique
现有的彩色物体三维轮廓测量的仪器主要是采用一维或二维机械装置控制结构光进行物体的扫描，这些仪器的共同缺点为测量速度较慢。如意大利国家研究委员会利用结构光扫描实现彩色三维轮廓测量的仪器和日本Konica Minolta公司的Vivid910系列采用激光三角测距原理的便携式激光扫描仪。Existing instruments for three-dimensional profile measurement of colored objects mainly use one-dimensional or two-dimensional mechanical devices to control structured light to scan objects. The common disadvantage of these instruments is that the measurement speed is relatively slow. For example, the Italian National Research Council uses structured light scanning to realize color three-dimensional profile measurement instruments, and Japan's Konica Minolta's Vivid910 series portable laser scanners use the principle of laser triangulation.
结构光投影式测量系统具有：测量速度快，全场一次成像的优点。但是现有的结构光投影式系统的测量对象为白色或浅色物体，或在彩色被测物上喷显影剂，对于彩色物体的测量还没有找到一种好办法。The structured light projection measurement system has the advantages of fast measurement speed and one-time imaging of the whole field. However, the measurement object of the existing structured light projection system is a white or light-colored object, or a developer is sprayed on a colored object to be measured, and a good method has not been found for the measurement of a colored object.
在传统的结构光投影式三维测量中，投影出的结构光受到被测物体表面颜色的影响，导致结构光颜色误判增加。由于物体表面具有不同的颜色，也就是对RGB三通道的反射率不平衡，导致CCD采集到的图像其颜色并不是投影的结构光的颜色，而是结构光与物体自身颜色混叠后的状态。In the traditional structured light projection 3D measurement, the projected structured light is affected by the surface color of the measured object, resulting in an increase in misjudgment of the structured light color. Because the surface of the object has different colors, that is, the reflectivity of the RGB three channels is unbalanced, the color of the image collected by the CCD is not the color of the projected structured light, but the state of the aliasing of the structured light and the color of the object itself .
Caspi等在论文‘Range imaging with adaptive color structured light’中提出了彩色响应模型，该模型反映测量系统中CCD相机采集到的像素值与投影仪投影的图像之间的响应关系为：Caspi et al. proposed a color response model in the paper 'Range imaging with adaptive color structured light', which reflects the response relationship between the pixel values collected by the CCD camera in the measurement system and the image projected by the projector as follows:
即，M＝AKP(I)+M0That is, M=AKP(I)+M0
式中，M＝[R G B]T是CCD相机采集到的图像上任意指定点的像素实际值；M0＝[R0G0 B0]T是在环境光影响下的像素背景值，在室内光照条件下，通常忽略M0的影响；I＝[r gb]T是投影仪所投影的图像上对应点的像素设定值；矩阵A是投影仪和CCD相机之间的三通道耦合矩阵；P是像素设定值与实际投影出的图像的RGB值之间的对应关系；反射率矩阵K是该点对RGB三个分量的不同反射率。In the formula, M=[RGB]T is the actual pixel value of any specified point on the image collected by the CCD camera; M0 =[R0 G0 B0 ]T is the pixel background value under the influence of ambient light, indoor Under lighting conditions, the influence of M0 is usually ignored; I=[r gb]T is the pixel setting value of the corresponding point on the image projected by the projector; matrix A is a three-channel coupling matrix between the projector and the CCD camera; P is the corresponding relationship between the pixel setting value and the RGB value of the actually projected image; the reflectance matrix K is the different reflectance of the point to the three components of RGB.
论文“一种针对彩色物体的光栅投影三维测量方法”提出通过投影两幅互补的光栅，求取物体表面逐点的反射率，该方法只是部分消弱了彩色物体的影响，测量精度有待于进一步提高；而且该方法只能利用傅里叶变换法求取包裹相位，限制了它的使用范围，对于复杂、陡峭或存在孤立区域的彩色物体测量在相位展开时很难求得准确的相位解包裹结果。Caspi通过投影一幅白色和一幅黑色的图到物体表面进行补偿，论文“三维面形测量中减小物体彩色纹理影响的新方法”提出预先标定白板的颜色响应，近似求取物体表面的颜色信息来减小对测量系统的影响，但是上述两种方法不能很好的改善光栅的正弦性。The paper "A Three-Dimensional Measuring Method for Colored Objects with Grating Projection" proposes to calculate the point-by-point reflectance of the object surface by projecting two complementary gratings. This method only partially weakens the influence of colored objects, and the measurement accuracy needs to be further improved. Improve; and this method can only use the Fourier transform method to obtain the wrapping phase, which limits its scope of use. It is difficult to obtain accurate phase unwrapping when measuring the color objects with complex, steep or isolated areas. result. Caspi compensates by projecting a white and a black picture onto the surface of the object. The paper "A New Method for Reducing the Effect of Object Color Texture in Three-dimensional Surface Measurement" proposes to pre-calibrate the color response of the whiteboard and approximate the color of the object surface Information to reduce the impact on the measurement system, but the above two methods can not improve the sinusoidal properties of the grating.
利用结构光投影法测量物体三维轮廓一直是一个热点研究问题，前人已经做了很多的研究工作。对于彩色物体三维轮廓的测量，国内外科研人员也做了许多研究，但是测量精度不高，不能很好的消弱彩色物体表面颜色对测量的影响。Using the structured light projection method to measure the three-dimensional contour of an object has always been a hot research issue, and a lot of research work has been done by the predecessors. For the measurement of the three-dimensional contour of colored objects, researchers at home and abroad have also done a lot of research, but the measurement accuracy is not high, and the influence of the surface color of colored objects on the measurement cannot be well weakened.
发明内容Contents of the invention
本发明目的是提供一种彩色物体三维轮廓测量方法，解决了现有的测量方法因彩色物体颜色干扰而导致测量精度低的技术问题。The object of the present invention is to provide a method for measuring the three-dimensional profile of a colored object, which solves the technical problem of low measurement accuracy caused by the interference of the color of the colored object in the existing measuring method.
本发明的技术解决方案是：一种彩色物体三维轮廓测量方法，其特殊之处在于，包括以下步骤：The technical solution of the present invention is: a method for measuring the three-dimensional profile of a colored object, which is special in that it includes the following steps:
1)测量彩色3CCD相机的三通道耦合矩阵A，并求出逆矩阵A-1；1) Measure the three-channel coupling matrix A of the color 3CCD camera, and obtain the inverse matrix A-1 ;
2)制作三幅由红、绿、蓝三色组成的呈互补关系的条纹图，第一幅条纹图是按红、绿、蓝顺序排列的格雷编码条纹图，第二幅条纹图按绿、蓝、红顺序排列，第三幅条纹图按蓝、红、绿顺序排列；同一个像素点在三幅条纹图中的像素值之和为255；2) Make three complementary fringe patterns composed of red, green, and blue colors. The first fringe pattern is a gray-coded fringe pattern arranged in the order of red, green, and blue. The second fringe pattern is arranged in the order of green, green, and blue. The blue and red are arranged in order, and the third fringe image is arranged in the order of blue, red, and green; the sum of the pixel values of the same pixel in the three fringe images is 255;
3)将步骤2)制作的三幅互补的条纹图投影至被测彩色物体的表面；3) projecting three complementary fringe patterns made in step 2) onto the surface of the measured colored object;
4)用彩色3CCD相机分别采集得到变形条纹图，并通过彩色数字图像卡将变形条纹图的图像数据输送至计算机；4) Collect the deformed fringe pattern with a color 3CCD camera respectively, and send the image data of the deformed fringe pattern to the computer through a color digital image card;
5)将三幅变形条纹图中的同一个像素点的实际像素值逐个进行叠加，求解每一个像素点的反射率矩阵K，并求出逆矩阵K-1；5) Superimpose the actual pixel values of the same pixel in the three deformed fringe images one by one, solve the reflectivity matrix K of each pixel, and find the inverse matrix K-1 ;
6)生成三幅具有同周期、同振幅、相邻条纹有120度相位差的正弦条纹图，然后将这三幅正弦条纹图作为彩色图像的三层数据，生成彩色相移条纹图；6) Generate three sinusoidal fringe patterns with the same period, same amplitude, and 120-degree phase difference between adjacent fringes, and then use these three sinusoidal fringe patterns as the three-layer data of the color image to generate a color phase-shifted fringe pattern;
7)将步骤6)生成的彩色相移条纹图投影至被测彩色物体的表面；7) project the color phase-shift fringe figure that step 6) generates to the surface of the measured color object;
8)用彩色3CCD相机采集得到变形相移条纹图，并通过彩色数字图像卡将变形相移条纹图的图像数据输送至计算机；8) Gather the deformed phase-shift fringe pattern with a color 3CCD camera, and send the image data of the deformed phase-shift fringe pattern to the computer through a color digital image card;
9)利用步骤1)得到的A-1和步骤5)得到的K-1对变形相移条纹图中每一个像素点进行补偿，还原出准确的彩色编码信息与相位信息；9) Compensate each pixel in the deformed phase-shift fringe pattern by using A-1 obtained in step 1) and K-1 obtained in step 5), and restore accurate color coding information and phase information;
10)采用相移法从补偿后的图像中提取出包裹相位信息，并进行相位解包裹；根据相位解包裹之后的相位图，利用三角法原理求得每一个像素点的高度信息，得出彩色物体三维轮廓。10) Use the phase shift method to extract the wrapping phase information from the compensated image, and unwrap the phase; according to the phase map after the phase unwrapping, use the triangulation method to obtain the height information of each pixel point, and obtain the color 3D silhouette of an object.
进一步地，步骤6)中的正弦条纹图是由Matlab软件生成的光强按正弦规律变化的正弦条纹图。Further, the sinusoidal fringe pattern in step 6) is a sinusoidal fringe pattern in which light intensity changes according to a sinusoidal law generated by Matlab software.
进一步地，步骤6)中产生正弦条纹图的公式为Further, the formula for generating the sinusoidal fringe pattern in step 6) is
其中，(u,v)为像素坐标，I为投射光强值，Im为投射光强的最大值，f为条纹空间频率，δ为条纹的初相位。Among them, (u, v) is the pixel coordinates, I is the projected light intensity value,Im is the maximum projected light intensity, f is the fringe spatial frequency, and δ is the initial phase of the fringe.
进一步地，步骤6)中产生彩色相移条纹图的公式为Further, the formula for producing color phase shift fringe figure in step 6) is
其中，I1、I2和I3分别为三个正弦条纹图的投射光强值。Wherein, I1 , I2 and I3 are respectively the projected light intensity values of the three sinusoidal fringe patterns.
进一步地，步骤10中提取包裹相位信息的方法是利用Matlab软件把采集到的变形相移条纹图分为三幅相移灰度图像，利用三步相移技术求解变形相移条纹图的相位分布，求得物体的包裹相位。Further, the method of extracting the wrapped phase information in step 10 is to use Matlab software to divide the collected deformed phase-shifted fringe image into three phase-shifted grayscale images, and use the three-step phase-shifting technique to solve the phase distribution of the deformed phase-shifted fringe image , to obtain the wrapping phase of the object.
本发明的有益效果在于：本发明首先利用光度计测量出3CCD相机的三通道耦合矩阵，消除物理器件对测量过程的影响，相比于利用投影红、绿、蓝图像至白纸上计算耦合矩阵具有更高的精度；对于彩色物体表面反射率的求取，该方法实质上相当于在物体每一点都投影了三原色，利用互补关系，通过叠加互补色，求取的反射率矩阵K抵消了干扰。较之投射均匀白光求取的反射率K，投影互补彩色条纹的方法能起到更好的结构光条纹补偿效果，补偿后的图像具有更好的正弦性。本方法只需投影四副图像至彩色物体表面就可以更精确的求得彩色物体的三维轮廓信息，兼顾了测量速度，可以实现快速测量的目标。The beneficial effects of the present invention are: firstly, the present invention uses a photometer to measure the three-channel coupling matrix of a 3CCD camera, eliminating the influence of physical devices on the measurement process, compared to calculating the coupling matrix by projecting red, green, and blue images onto white paper It has higher precision; for the calculation of the surface reflectance of a colored object, this method is essentially equivalent to projecting the three primary colors at each point of the object. Using the complementary relationship, by superimposing the complementary colors, the obtained reflectance matrix K offsets the interference . Compared with the reflectance K obtained by projecting uniform white light, the method of projecting complementary color fringes can achieve a better compensation effect for structured light fringes, and the compensated image has better sinusoidal properties. This method only needs to project four images onto the surface of the color object to obtain the three-dimensional contour information of the color object more accurately, taking into account the measurement speed, and can achieve the goal of fast measurement.
附图说明Description of drawings
图1为红绿蓝格雷编码条纹图。Figure 1 is a red, green and blue gray coded stripe diagram.
图2为红绿蓝格雷编码条纹的补色图。Figure 2 is a complementary color map of red, green and blue Gray coded stripes.
图3为彩色相移条纹图。Figure 3 is a color phase shift fringe diagram.
具体实施方式Detailed ways
本发明为一种彩色物体三维轮廓测量方法，该方法可以消弱彩色物体颜色对结构光投影三维测量干扰，具体包括以下步骤：The invention is a three-dimensional profile measurement method of a colored object, which can weaken the interference of the color of the colored object on the three-dimensional measurement of structured light projection, and specifically includes the following steps:
第一步，利用光度计测量彩色3CCD相机的三通道耦合矩阵A，因为三通道耦合矩阵A属于相机本身的属性与实际采集图像中像素的具体空间位置无关，只需要预先测量一次，其测量的结果可以用于以后采集图像的所有像素点的校正，三通道耦合矩阵A表达式如下：The first step is to use a photometer to measure the three-channel coupling matrix A of the color 3CCD camera, because the three-channel coupling matrix A belongs to the property of the camera itself and has nothing to do with the specific spatial position of the pixels in the actual collected image, and it only needs to be measured once in advance. The result can be used for the correction of all pixels of the image collected later, and the expression of the three-channel coupling matrix A is as follows:
并计算出其逆矩阵A-1；And calculate its inverse matrix A-1 ;
第二步，设计三幅由红、绿、蓝三色组成的条纹图，第一幅是按红、绿、蓝顺序排列的格雷编码条纹图，条纹图如图1所示，第二幅按绿、蓝、红顺序排列，第三幅按蓝、红、绿顺序排列，这三幅图每幅图同一个像素点中分别对应三原色中的一种颜色，这三幅条纹图相加为255，形成了互补关系，设第一幅彩色编码光栅中任意一个像素点的RGB通道设定值为x1,y1,z1,第二幅彩色编码光栅中任意一个像素点的RGB通道设定值为x2,y2,z2,第三幅彩色编码光栅中任意一个像素点的RGB通道设定值为x3,y3,z3,任意一个像素点的RGB通道实际像素值满足The second step is to design three fringe images composed of red, green, and blue colors. The first image is a gray-coded fringe image arranged in the order of red, green, and blue. The fringe image is shown in Figure 1, and the second image is Green, blue, and red are arranged in sequence, and the third image is arranged in the order of blue, red, and green. The same pixel in each of these three images corresponds to one of the three primary colors. The sum of these three stripe images is 255 , forming a complementary relationship, let the RGB channel setting value of any pixel in the first color-coded raster be x1 , y1 , z1 , and the RGB channel setting of any pixel in the second color-coded raster The value is x2 , y2 , z2 , the RGB channel setting value of any pixel in the third color-coded raster is x3 , y3 , z3 , and the actual pixel value of the RGB channel of any pixel satisfies
第三步，由投影仪投影这三幅互补的彩色条纹至被测的彩色物体表面，图1的互补彩色条纹图如图2所示；In the third step, the projector projects these three complementary colored fringes onto the surface of the measured colored object, and the complementary colored fringe pattern in Fig. 1 is shown in Fig. 2;
第四步，用彩色3CCD相机采集变形的彩色条纹图，并通过彩色数字图像卡将变形的彩色条纹图像数据输送至计算机；The fourth step is to collect the deformed color fringe image with a color 3CCD camera, and transmit the deformed color fringe image data to the computer through a color digital image card;
第五步，将上一步中的三幅图像的实际像素值逐个进行对应点的叠加，In the fifth step, the actual pixel values of the three images in the previous step are superimposed on the corresponding points one by one,
将三幅图像的实际像素值逐个进行对应点的叠加，得到The actual pixel values of the three images are superimposed on corresponding points one by one to obtain
化简得到方程组Simplify to get the system of equations
由于室内光照条件下R0，G0，B0近似为零，利用上式可以分别解出每一个点的反射率矩阵K，Since R0 , G0 , and B0 are approximately zero under indoor lighting conditions, the reflectance matrix K of each point can be solved by using the above formula,
并求出矩阵K-1；And find the matrix K-1 ;
第六步，利用Matlab软件生成三个具有同周期、同振幅、相邻条纹有120度相位差的正弦条纹，光强按正弦规律变化的正弦条纹由软件产生条纹图，产生正弦条纹图的公式为The sixth step is to use Matlab software to generate three sinusoidal fringes with the same period, the same amplitude, and a phase difference of 120 degrees between adjacent fringes. The sinusoidal fringes whose light intensity changes according to the sinusoidal law are generated by the software. The formula for generating the sinusoidal fringe pattern for
其中，(u,v)为像素坐标，I为投射光强值，Im为投射光强的最大值，f为条纹空间频率，δ为条纹的初相位。Among them, (u, v) is the pixel coordinates, I is the projected light intensity value,Im is the maximum projected light intensity, f is the fringe spatial frequency, and δ is the initial phase of the fringe.
彩色相移条纹产生的公式也是由生成正弦条纹的基本公式产生而来的，The formula for generating color phase shift fringes is also derived from the basic formula for generating sinusoidal fringes,
其中，I1、I2和I3分别为三个正弦条纹图的投射光强值，产生的彩色相移条纹图如图3所示。Among them, I1 , I2 and I3 are the projected light intensity values of the three sinusoidal fringe patterns respectively, and the resulting color phase shift fringe patterns are shown in Fig. 3 .
第七步，由投影仪投影彩色相移条纹至被测物体表面；In the seventh step, the projector projects the colored phase shift stripes onto the surface of the measured object;
第八步，用彩色3CCD相机采集变形相移条纹图，并通过彩色数字图像卡将变形相移条纹图像数据输送至计算机；The eighth step is to use a color 3CCD camera to collect the deformed phase-shifted fringe image, and transmit the image data of the deformed phase-shifted fringe to the computer through a color digital image card;
第九步，结合第一步中求出的A-1，对图像的每一个像素值[R G B]T均乘以A-1进行校正，就可以消除三通道耦合对彩色图像质量的影响。结合第五步求出的K-1，对图像的每一个像素值[R G B]T均乘以K-1进行校正，就可以消弱彩色物体表面每一点的反射，消弱彩色物体和投影仪投影的彩色莫尔条纹产生的相互干扰，对采集到的变形的彩色莫尔条纹图中每一个像素点作如下运算：In the ninth step, combined with the A-1 obtained in the first step, multiply each pixel value [RGB]T of the image by A-1 for correction, and the influence of the three-channel coupling on the color image quality can be eliminated. Combining the K-1 obtained in the fifth step, multiplying each pixel value [RGB]T of the image by K-1 for correction can weaken the reflection of each point on the surface of the colored object, weakening the color object and the projector The mutual interference generated by the projected color moiré fringes is calculated as follows for each pixel in the collected deformed color moiré fringe image:
M＝K-1A-1[A]M＝K-1 A-1 [A]
便可还原出准确的彩色编码信息与相位信息；The accurate color coding information and phase information can be restored;
第十步，采用相移法从补偿后的图像中提取出包裹相位信息，即利用Matlab软件把采集到的变形相移条纹图分为三幅相移灰度图像，利用三步相移技术求解变形相移条纹图的相位分布，求得物体的包裹相位，进行相位解包裹，结合相机和投影仪的标定，利用三角法原理可以求得每一个像素点的高度信息，得出彩色物体三维轮廓。The tenth step is to use the phase shift method to extract the package phase information from the compensated image, that is, to use Matlab software to divide the collected deformed phase shift fringe image into three phase shift grayscale images, and use the three-step phase shift technology to solve Deform the phase distribution of the phase-shifted fringe pattern, obtain the wrapped phase of the object, and unwrap the phase. Combined with the calibration of the camera and projector, the height information of each pixel can be obtained by using the principle of triangulation, and the three-dimensional outline of the colored object can be obtained. .
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